
2.3 Classical Representation 27
onrobot} is not consistent with our intended interpretation because it says that the
container is both on the crane and on the robot.
If the actions of a planning problem and s
0
are written correctly, then an ambigu-
ous or inconsistent state s will never appear in any solution to the planning problem:
either s will not be reachable from s
0
(i.e., s ∈
ˆ
(s
0
)) or g will not be reachable from
s (i.e., s is not a superset of an element of
−1
(g )). However, this puts all the burden
of a good definition of a domain on the specification of the set of actions.
2.3 Classical Representation
The classical representation scheme generalizes ...